TY - GEN
T1 - An under-actuated mechanism for a robotic finger
AU - Bandara, D. S.V.
AU - Gopura, R. A.R.C.
AU - Kajanthan, G.
AU - Brunthavan, M.
AU - Abeynayake, H. I.M.M.
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/7
Y1 - 2014/10/7
N2 - Robotic hands can be applied in different applications such as prosthesis, humanoid robots, industrial robotic manipulators and other kinds of robotic arms. Introduction of robotic technology into the field of prosthesis has resulted a higher quality of life for amputees. In this paper an under-actuated mechanism which has the self-adaptation ability is proposed to be used in the fingers of the hand prosthesis. The mechanism is a modification of the cross bar mechanism and it shows grasping adaptation ability for different geometries. In addition the mechanism is capable to generate dexterous grasping patterns making a paradigm shift from the conventional linkage mechanisms used for fingers which only has the capability for the grasping. Kinematic analysis, mathematical simulation and computer simulations were carried out to evaluate the effectiveness of the mechanism. Furthermore a new parameter, degree of adaptation is introduced to evaluate the performance of the under-actuated finger mechanisms.
AB - Robotic hands can be applied in different applications such as prosthesis, humanoid robots, industrial robotic manipulators and other kinds of robotic arms. Introduction of robotic technology into the field of prosthesis has resulted a higher quality of life for amputees. In this paper an under-actuated mechanism which has the self-adaptation ability is proposed to be used in the fingers of the hand prosthesis. The mechanism is a modification of the cross bar mechanism and it shows grasping adaptation ability for different geometries. In addition the mechanism is capable to generate dexterous grasping patterns making a paradigm shift from the conventional linkage mechanisms used for fingers which only has the capability for the grasping. Kinematic analysis, mathematical simulation and computer simulations were carried out to evaluate the effectiveness of the mechanism. Furthermore a new parameter, degree of adaptation is introduced to evaluate the performance of the under-actuated finger mechanisms.
UR - http://www.scopus.com/inward/record.url?scp=84910671410&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84910671410&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2014.6917498
DO - 10.1109/CYBER.2014.6917498
M3 - Conference contribution
AN - SCOPUS:84910671410
T3 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
SP - 407
EP - 412
BT - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
Y2 - 4 June 2014 through 7 June 2014
ER -